[project.urls]
homepage = "https://github.com/huggingface/lerobot"
issues = "https://github.com/huggingface/lerobot/issues"
discord = "https://discord.gg/s3KuuzsPFb"

[project]
name = "lerobot"
version = "0.1.0"
description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
authors = [
    {name = "Rémi Cadène", email = "re.cadene@gmail.com"},
    {name = "Simon Alibert", email = "alibert.sim@gmail.com"},
    {name = "Alexander Soare", email = "alexander.soare159@gmail.com"},
    {name = "Quentin Gallouédec", email = "quentin.gallouedec@ec-lyon.fr"},
    {name = "Adil Zouitine", email = "adilzouitinegm@gmail.com"},
    {name = "Thomas Wolf", email = "thomaswolfcontact@gmail.com"},
]
readme = "README.md"
license = {text = "Apache-2.0"}
requires-python = ">=3.10"
keywords = ["robotics", "deep learning", "pytorch"]
classifiers=[
    "Development Status :: 3 - Alpha",
    "Intended Audience :: Developers",
    "Intended Audience :: Education",
    "Intended Audience :: Science/Research",
    "Topic :: Software Development :: Build Tools",
    "Topic :: Scientific/Engineering :: Artificial Intelligence",
    "License :: OSI Approved :: Apache Software License",
    "Programming Language :: Python :: 3.10",
]
dependencies = [
    "cmake>=3.29.0.1",
    "datasets>=2.19.0",
    "deepdiff>=7.0.1",
    "diffusers>=0.27.2",
    "draccus>=0.10.0",
    "einops>=0.8.0",
    "flask>=3.0.3",
    "gdown>=5.1.0",
    "gymnasium==0.29.1", # TODO(rcadene, aliberts): Make gym 1.0.0 work
    "h5py>=3.10.0",
    "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
    "hydra-core>=1.3.2",
    "imageio[ffmpeg]>=2.34.0",
    "jsonlines>=4.0.0",
    "numba>=0.59.0",
    "omegaconf>=2.3.0",
    "opencv-python>=4.9.0",
    "packaging>=24.2",
    "av>=12.0.5",
    "pymunk>=6.6.0",
    "pynput>=1.7.7",
    "pyzmq>=26.2.1",
    "rerun-sdk>=0.21.0",
    "termcolor>=2.4.0",
    "torch>=2.2.1",
    "torchvision>=0.21.0",
    "wandb>=0.16.3",
    "zarr>=2.17.0",
]

[project.optional-dependencies]
aloha = ["gym-aloha>=0.1.1 ; python_version < '4.0'"]
dev = ["pre-commit>=3.7.0", "debugpy>=1.8.1"]
dora = ["gym-dora @ git+https://github.com/dora-rs/dora-lerobot.git#subdirectory=gym_dora ; python_version < '4.0'"]
dynamixel = ["dynamixel-sdk>=3.7.31", "pynput>=1.7.7"]
feetech = ["feetech-servo-sdk>=1.0.0", "pynput>=1.7.7"]
intelrealsense = ["pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"]
pi0 = ["transformers>=4.48.0"]
pusht = ["gym-pusht>=0.1.5 ; python_version < '4.0'"]
stretch = [
    "hello-robot-stretch-body>=0.7.27 ; python_version < '4.0' and sys_platform == 'linux'",
    "pyrender @ git+https://github.com/mmatl/pyrender.git ; sys_platform == 'linux'",
    "pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'",
    "pynput>=1.7.7"
]
test = ["pytest>=8.1.0", "pytest-cov>=5.0.0", "pyserial>=3.5"]
umi = ["imagecodecs>=2024.1.1"]
video_benchmark = ["scikit-image>=0.23.2", "pandas>=2.2.2"]
xarm = ["gym-xarm>=0.1.1 ; python_version < '4.0'"]

[tool.poetry]
requires-poetry = ">=2.1"

[tool.ruff]
line-length = 110
target-version = "py310"
exclude = [
    "tests/data",
    ".bzr",
    ".direnv",
    ".eggs",
    ".git",
    ".git-rewrite",
    ".hg",
    ".mypy_cache",
    ".nox",
    ".pants.d",
    ".pytype",
    ".ruff_cache",
    ".svn",
    ".tox",
    ".venv",
    "__pypackages__",
    "_build",
    "buck-out",
    "build",
    "dist",
    "node_modules",
    "venv",
]

[tool.ruff.lint]
select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]

[tool.bandit]
exclude_dirs = [
    "tests",
    "benchmarks",
    "lerobot/common/datasets/push_dataset_to_hub",
    "lerobot/common/datasets/v2/convert_dataset_v1_to_v2",
    "lerobot/common/policies/pi0/conversion_scripts",
    "lerobot/scripts/push_dataset_to_hub.py",
]
skips = ["B101", "B311", "B404", "B603"]

[tool.typos]
default.extend-ignore-re = [
    "(?Rm)^.*(#|//)\\s*spellchecker:disable-line$",  # spellchecker:disable-line
    "(?s)(#|//)\\s*spellchecker:off.*?\\n\\s*(#|//)\\s*spellchecker:on"  # spellchecker:<on|off>
]
default.extend-ignore-identifiers-re = [
    # Add individual words here to ignore them
    "2nd",
    "pn",
    "ser",
    "ein",
]

[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"